CN114378790B - A full-body exoskeleton for transportation assistance - Google Patents

Abstract

The invention discloses a whole-body exoskeleton oriented to transportation and assisting, which comprises a back plate mechanism, a shoulder mechanism, a large and small arm mechanism, a hip mechanism and a large and small leg mechanism. When the wearer carries heavy objects, the motor in the shoulder mechanism provides active assistance, the extension spring in the upper and lower arm mechanisms and the three-stage telescopic rod of the compression spring in the hip and thigh mechanisms provide passive assistance; The binding design and the unique adjustable support plate design at the limbs ensure the comfort of wearing, so that the load is mainly transmitted to the ground through the exoskeleton, and part of the load will be evenly borne by the whole body; Range of people; multiple joints adopt mechanical limit to ensure the safety during the handling process and provide partial support; unilateral upper limb adopts 4 degrees of freedom, unilateral lower limb adopts 5 degrees of freedom, strong flexibility; the overall structure of the exoskeleton is simple and compact, And it adopts a lightweight design, with multiple hollows to reduce weight.

Description

A full-body exoskeleton for transportation assistance

technical field

The invention belongs to the technical field of power-assisted robots, and in particular relates to a whole-body exoskeleton oriented to assisting in transportation.

Background technique

With the advent of the Industry 4.0 era and the rapid development of society, the processing, manufacturing and logistics industries have become the pillar industries of our country. However, the work of loading and unloading materials and moving materials in factories and logistics warehouses mainly depends on manpower. Currently, the exoskeletons that are common on the market are mainly used in the field of medical rehabilitation and health care, but the exoskeletons used in material handling are relatively rare. Therefore, designing a wearable lightweight full-body exoskeleton can reduce the work intensity of workers, improve work efficiency and ensure their personal safety.

At present, most of the existing designs of the exoskeleton for transportation have problems of light weight, comfort and practicability. For example, the invention patent CN106695760A announced "a whole-body exoskeleton power-assisted robot for assisting transportation". The degree of freedom of external rotation limits the wearer's range of motion and lacks flexibility; there is no mechanical limit to the range of joint motion, which cannot guarantee the safety of the wearer; the design of the lower limbs lacks support, and when the wearer squats down, most of the load and the weight of the exoskeleton are by The wearer bears. The invention patent "CN107984461A" announced a "pneumatic upper limb assisted exoskeleton robot for handling work", which uses a new type of pneumatic muscle as a driver, which makes the robot's driving force-weight ratio higher and energy efficiency improved. However, the load and the self-weight of the exoskeleton are still all borne by the wearer, and the load on the wearer's back is heavy, and it is easy to cause damage to the wearer's back after long-term use.

Contents of the invention

In order to overcome the deficiencies of the prior art, the present invention provides a whole-body exoskeleton oriented to assisting in transportation, including a back plate mechanism, a shoulder mechanism, a large and small arm mechanism, a hip mechanism and a large and small leg mechanism. When the wearer carries heavy objects, the motor in the shoulder mechanism provides active assistance, and the extension spring in the arm mechanism and the compression spring three-stage telescopic rod in the hip and thigh mechanism provide passive assistance; The binding design and the unique adjustable support plate design at the limbs ensure the comfort of wearing, so that the load is mainly transmitted to the ground through the exoskeleton, and part of the load will be evenly borne by the whole body; Crowd range; multiple joints adopt mechanical limit to ensure safety during transportation and provide partial support; unilateral upper limb adopts 4 degrees of freedom, unilateral lower limb adopts 5 degrees of freedom, strong flexibility; the overall structure of the exoskeleton is simple and compact, And it adopts a lightweight design, with multiple hollows to reduce weight.

The technical solution adopted by the present invention to solve its technical problems is as follows:

A whole-body exoskeleton oriented to assisting in transportation, including a backboard mechanism, a shoulder mechanism, a large and small arm mechanism, a hip mechanism, and a large and small leg mechanism; the shoulder mechanism has the same left and right parts, respectively The left and right ends of the top are fixedly connected; the large and small arm mechanisms have the same left and right parts, which are respectively connected with the left and right parts of the shoulder mechanism; the hip mechanism has the same left and right parts, which are respectively connected with the bottom The left end and the right end of the body are fixedly connected; the large and small leg mechanism has the same left and right parts, which are respectively fixedly connected with the left and right parts of the hip mechanism; fixed together;

The back plate mechanism includes a back plate and a waist plate; the back plate is T-shaped, and a plurality of through holes are arranged at the left and right ends of the top for connecting with the shoulder mechanism; the top and middle sides of the back plate are symmetrically arranged with multiple Two rectangular slots are used to fix the straps; the lower end of the backboard is provided with two vertical rows of through holes for connecting with the waistboard; the waistboard is in an inverted T shape with two vertical rows of throughholes arranged in the middle, through which the bolts are connected to the backboard The through holes of the waist board can be fixedly connected, and the length of the back board mechanism can be adjusted by moving the waist board up and down to change the alignment position of the through holes; the left and right sides of the waist board are provided with rectangular grooves for fixing straps; the left and right ends of the bottom of the waist board are set Multiple through holes for connecting with the hip mechanism;

The left part of the shoulder mechanism comprises a first shoulder connecting plate, a shoulder hinge, a second shoulder connecting plate, a third shoulder connecting plate, a fourth shoulder connecting plate and a driving device; the first shoulder Multiple rows of through holes are set on the connecting plate, and the fixed connection is realized through the cooperation of the bolts with the through holes at the top left end of the back plate, and the adjustment of the shoulder width of the whole body exoskeleton is realized by moving the first shoulder connecting plate left and right to change the alignment position of the through holes; A shoulder connecting plate is connected to the second shoulder connecting plate through a shoulder hinge, and the shoulder hinge assists the internal rotation or external rotation of the shoulder joint; the middle part of the third shoulder connecting plate and the second shoulder connecting plate is arranged There are through holes, and the two are hinged through the shoulder bolts. The third shoulder connecting plate can rotate around the second shoulder connecting plate to assist the abduction and adduction of the shoulder joint; the fourth shoulder connecting plate is provided with multiple A row of through holes is fixedly connected by the cooperation of the bolts with the through holes on the third shoulder connecting plate, and the alignment position of the through holes is changed by moving the third shoulder connecting plate left and right to realize the adjustment of the length of the large arm of the whole body exoskeleton; the driving device is fixed Installed on the fourth shoulder connecting plate; the right part and the left part of the shoulder mechanism are symmetrically installed with the vertical central axis of the waist-back plate mechanism as the symmetrical axis;

The left part of the large and small arm mechanism includes a first big arm plate, a big arm support plate, a second big arm plate, a tension spring, a small arm plate and a small arm support plate; one end of the first big arm plate is connected to the driving device , the driving device can drive the rotation of the first big arm plate; the other end of the first big arm plate is provided with multiple rows of through holes, and the bolts are fixedly connected with the through holes on the second big arm plate to achieve fixed connection. By moving the second big arm The plate changes the alignment position of the through hole to realize the length adjustment of the arm of the whole body exoskeleton; the arm support plate is fixedly installed on the first arm plate, which binds and fixes the arm and provides support for the arm when carrying heavy objects; The forearm plate and the end of the second big arm plate are provided with through holes, and the two are hinged by shoulder bolts, and the forearm plate can rotate around the second big arm plate to assist the flexion and extension of the elbow joint of the whole body exoskeleton; A mechanical limit plate is set on the second arm plate, so that when the forearm plate rotates, the range of motion of the elbow joint of the whole body exoskeleton is 30°～120°; one end of the tension spring is connected to the first arm plate, and the other end is connected to the forearm plate , to provide passive power assistance for wearing and carrying heavy objects; the forearm support plate is fixedly installed on the forearm plate, which binds and fixes the forearm, and provides support for the forearm when carrying heavy objects; the first large arm There are square grooves on the plate and the upper arm support plate, which are used to bind the straps to the wearer's upper arm; the ends of the forearm board are provided with square grooves, which are used to fix the straps and bind the wearer's wrist; The right part and the left part of the large and small arm mechanism are installed symmetrically with the vertical central axis of the backboard mechanism as the symmetrical axis;

The left part of the hip mechanism includes the first hip connecting plate, the second hip connecting plate, the third hip connecting plate, the fourth hip connecting plate, the hip hinge, the first thigh plate and the hip compression spring Three-stage telescopic rod; multiple rows of through holes are set on the first hip connecting plate, and the fixed connection is realized through the cooperation of bolts with the through holes at the left end of the bottom of the waist plate, and the alignment position of the through holes is changed by moving the waist plate left and right to realize the hip width of the whole body exoskeleton Adjustment; the first hip connecting plate and the second hip connecting plate are connected by hip hinges to assist the internal rotation or external rotation of the hip joint of the whole body exoskeleton; the middle part of the second hip connecting plate is provided with a cylindrical protrusion, It forms a mechanical limit with the limit groove of the third hip connecting plate, and the third hip connecting plate rotates around the end of the second hip connecting plate to assist the abduction or adduction of the hip joint of the whole body exoskeleton, and at the same time limit the hip joint The limit of abduction is 45°, and the limit of adduction is 20°, which plays a protective role; one end of the fourth hip connecting plate is provided with multiple rows of through holes, and the fixed connection is realized through the cooperation of bolts with the through holes at the end of the third hip connecting plate , by moving the third hip connecting plate left and right to change the alignment position of the through hole to realize the adjustment of the thigh thickness of the whole body exoskeleton; the other end of the fourth hip connecting plate is provided with a cylindrical protrusion, which is composed of the upper limit groove of the first thigh plate Mechanical limit, the first thigh plate rotates around the end of the fourth hip connecting plate to assist the whole body exoskeleton to assist hip flexion or extension, limit the hip joint flexion, that is, the limit of thigh rod lifting is 145°, and limit the limit of hip joint extension 40°, which plays a protective role; the hip compression spring three-stage telescopic rod is hinged with the third hip connecting plate and the first thigh plate through shoulder bolts; the hip compression spring three-stage telescopic rod When the wearer stands upright, the compression spring is in a compressed state, providing support for the upper limb of the exoskeleton and its load; when the wearer squats, the telescopic rod stretches, and the compression spring is in a relaxed state; the right part and the left part of the hip mechanism The vertical central axis of the backboard mechanism is installed symmetrically;

The hip compression spring three-stage telescopic rod includes an upper base, a thin tube, a middle tube, a thick tube, a lower base and a hip compression spring; the upper base and one end of the thin tube are respectively provided with through holes, and the two ends are connected by bolts. fixed; the diameter of the other end of the thin tube increases and fits with the internal clearance of the middle tube; one end of the middle tube is provided with a bayonet, and the bayonet is provided with a through hole, which is matched with the middle part of the thin tube to ensure that the middle tube and the thin tube When the cylinder piston moves, it is always concentric; the cooperation between the middle cylinder and the thick cylinder is the same as that of the thin cylinder and the middle cylinder; one end of the lower base and one end of the thick cylinder are fixed by four bolts; the thick cylinder and the There are through holes on the side of the middle barrel to exhaust air, preventing resistance caused by inconsistency between air pressure and air pressure in the airtight pipeline when the three-stage telescopic rod of the hip compression spring is stretched and compressed, and at the same time it is convenient to add lubricating oil from the through holes; the hip The compression spring is set on the thin tube, the middle tube and the thick tube. One end of the hip compression spring is fixed on the lower base, and the other end is suspended in the air. When the wearer stands upright, the hip compression spring is in a compressed state to provide support for the wearer's hip; wear When the patient squats down, the three-stage telescopic rod of the hip compression spring is stretched, and the upper end of the hip compression spring is out of contact with the upper base, and is in a relaxed state, returning to its original length;

The left part of the thigh mechanism includes a second thigh plate, a thigh support plate, a first calf plate, a second calf plate, a third calf plate, a calf support plate, a foot plate and a three-stage telescopic rod of a leg compression spring; One end of the second thigh plate is provided with multiple rows of through holes, and the bolts are fixedly connected with the through holes at the lower end of the first thigh plate, and the alignment position of the through holes is changed by moving the first thigh plate to realize the adjustment of the thigh length of the whole body exoskeleton; the second thigh plate The other end of the two thigh plates is provided with a cylindrical protrusion, which forms a mechanical limit with the limit groove on the top of the first calf plate. The first calf plate can rotate around the second thigh plate to assist the knee joint to flex or extend, and at the same time limit the knee joint. The joint cannot be hyperextended, the extension limit is 0° of normal extension, and the limit of knee joint flexion is 135°; the lower end of the first calf plate and the upper end of the second calf plate are fixed by bolts; the upper end of the third calf plate is provided with multiple A row of through holes is fixedly connected by bolts to the through holes at the lower end of the second calf plate, and the alignment position of the through holes is changed by moving the second calf plate to adjust the calf length of the whole body exoskeleton; the foot plate and the third calf plate pass through the shaft shoulder The bolt is hinged to assist the flexion or extension of the ankle joint; the foot plate is hinged to the third calf plate through shoulder bolts to assist the ankle joint to flex/extend; The two calf plates are hinged by shoulder bolts; the working principle of the leg spring three-stage telescopic rod is the same as that of the hip spring three-stage telescopic rod. When the wearer stands upright, the leg spring three-stage telescopic rod The compression spring of the leg is in a relaxed state. When the wearer squats down, the compression spring of the three-stage telescopic rod of the leg compression spring is compressed to provide partial support for the lower extremity exoskeleton; the thigh support plate is fixedly installed on the second thigh plate, It binds and fixes the thigh, and provides support for the thigh when carrying heavy objects; the calf support plate is fixedly installed on the third calf plate, plays a role of binding and fixing the calf, and provides support for the calf when carrying heavy objects; The second thigh plate, the thigh support plate, the first calf plate, the second calf plate, the third calf plate and the calf support plate are all provided with square grooves, and the universal fixing straps realize the binding of the thigh and the calf respectively; There is a square groove for fixing the straps to realize the binding of the feet; the right part and the left part of the big and small leg mechanism are symmetrically installed with the vertical central axis of the waist and back plate mechanism as the symmetrical axis;

Further, the back board, the waist board, the first big arm board, the big arm support board, the forearm board, the forearm support board, the first hip connection board, the third hip connection board, and the fourth hip connection board , the first thigh board, the second thigh board, the thigh support board, the first calf board, the second calf board, the third calf board, the calf support board and the foot board are provided with square grooves for weight reduction.

Further, the drive device is an intelligent controller integrating servo motor, harmonic reducer, and encoder, and uses the inertial measurement unit and thin-film pressure sensor to collect the motion information of the wearer and feed it back to the host computer to judge the wearer's operation intention , and then drive the motor to rotate to provide active assist for the wearer;

Further, the servo motor is a QDD Pro-PR60-100-90 disc motor, and the output torque of the motor is amplified by a harmonic reducer to drive the first arm plate to rotate, assisting the flexion or extension of the shoulder joint.

Further, the upper limbs of the whole body exoskeleton adopt 4 degrees of freedom, and the lower limbs adopt 5 degrees of freedom.

Further, the inner side of the strap on the upper part of the backboard is a sponge breathable shoulder pad; Sponge pads improve wearing comfort.

The beneficial effects of the present invention are as follows:

1. The present invention provides a whole-body exoskeleton for transportation assistance, which adopts an active-passive combination design scheme, which is conducive to simplifying the structure, ensuring the strength of the assistance and improving the endurance time; the passive assistance telescopic rod adopts a three-stage design, increasing the Increased telescopic range and improved flexibility of the exoskeleton.

2. The present invention ensures the reliability of the binding and the comfort of wearing through the multiple binding design of the whole body, so that the load is mainly transmitted to the ground through the exoskeleton, and part of the load will be evenly borne by the whole body; there are multiple sets of bindings on the limbs. The belt ensures the reliability of the binding, and the high-density sponge pad improves the wearing comfort.

3. The exoskeleton of the present invention adopts length adjustment design in many places, which increases the range of applicable people.

4. Many joints of the present invention adopt mechanical limit to ensure safety in the process of transportation and provide partial support; shoulder, elbow, hip and knee flexion/extension are all equipped with mechanical limit, on the one hand to ensure the safety of the wearer, On the other hand, when the human body is squatting or the arms are raised and the joints are at the limit position, it can provide partial passive support.

5. The present invention adopts 4 degrees of freedom for one upper limb and 5 degrees of freedom for one lower limb, so the flexibility is strong.

6. The overall structure of the exoskeleton of the present invention is simple and compact, adopts a lightweight design, and has multiple hollows to reduce weight.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a schematic diagram of the structure of the backboard mechanism of the present invention.

Fig. 3 is a schematic diagram of the shoulder mechanism of the present invention.

Fig. 4 is an exploded view of the shoulder mechanism of the present invention.

Fig. 5 is a schematic diagram of the large and small arm mechanism of the present invention.

Fig. 6 is a schematic diagram of the hip mechanism of the present invention.

Fig. 7 is an exploded view of the hip mechanism of the present invention.

Fig. 8 is a schematic diagram of the large and small leg mechanism of the present invention.

Fig. 9 is a schematic diagram of the hip compression spring three-stage telescopic rod of the present invention.

Fig. 10 is an exploded view of the hip compression spring three-stage telescopic rod of the present invention.

Explanation of reference numerals: 1-second shoulder connecting plate; 2-first shoulder connecting plate; 3-back plate; 4-shoulder hinge; 5-third shoulder connecting plate; 6-fourth shoulder connecting plate; 7-driving device; 8-first arm plate; 9-arm support plate; 10-tension spring; 11-arm plate; 12-second arm plate; 13-arm support plate; 14- Waist plate; 15-first hip connecting plate; 16-hip hinge; 17-second hip connecting plate; 18-third hip connecting plate; 19-fourth hip connecting plate; 20-hip compression spring Three-stage telescopic rod; 21-first thigh plate; 22-thigh support plate; 23-second thigh plate; 24-three-stage telescopic rod of calf compression spring; 25-first calf plate; 26-second calf Plate; 27-calf support plate; 28-third calf plate; 29-foot plate; 20-1-lower base, 20-2-thick tube, 20-3-hip compression spring, 20-4-middle tube, 20 -5-thin barrel and 20-6-upper base.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

As shown in Figure 1, a whole-body exoskeleton oriented to assisting in transportation includes a back plate mechanism, a shoulder mechanism, a large and small arm mechanism, a hip mechanism and a large and small leg mechanism; the shoulder mechanism has the same left and right parts, They are fixedly connected with the left end and the right end of the top of the waist-back plate mechanism respectively; the big and small arm mechanisms have the same left and right parts, respectively connected with the left and right parts of the shoulder mechanism; the hip mechanism has the same left and right parts, respectively It is fixedly connected with the left end and the right end of the bottom of the waist-back plate mechanism; the large and small leg mechanism has the same left and right parts, which are respectively fixedly connected with the left and right parts of the hip mechanism; the whole body exoskeleton forms a human shape as a whole. Fastened to the wearer by straps;

The backboard mechanism includes a backboard 3 and a backboard 14; the backboard 3 is T-shaped, and a plurality of through holes are arranged at the left and right ends of the top for connecting with the shoulder mechanism; the top and middle parts of the backboard 3 are two A plurality of rectangular grooves are arranged symmetrically on the side for fixing the straps; two vertical rows of through holes are arranged at the lower end of the backboard 3 for connecting with the waist board 14; the waist board 14 is in an inverted T shape, and two vertical rows of through holes are arranged in the middle Bolts are fixedly connected with the through holes of the back plate 3, and the length of the back plate mechanism is adjusted by moving the waist plate 14 up and down to change the alignment position of the through holes; the left and right sides of the waist plate 14 are provided with rectangular grooves for fixing belt; the left and right ends of the bottom of the waist plate 14 are provided with a plurality of through holes for connecting with the hip mechanism;

The left part of the shoulder mechanism comprises a first shoulder connecting plate 2, a shoulder hinge 4, a second shoulder connecting plate 1, a third shoulder connecting plate 5, a fourth shoulder connecting plate 6 and a driving device 7; The first shoulder connecting plate 2 is provided with multiple rows of through holes, and the fixed connection is realized through the cooperation of the bolts with the through holes at the top left end of the back plate 3, and the whole body is realized by moving the first shoulder connecting plate 2 left and right to change the alignment position of the through holes. Exoskeleton shoulder width adjustment; the first shoulder connecting plate 2 and the second shoulder connecting plate 1 are connected through a shoulder hinge 4, and the shoulder hinge 4 assists the internal rotation and external rotation of the shoulder joint; the third shoulder joint The middle part of the shoulder connecting plate 5 and the second shoulder connecting plate 1 is provided with a through hole, and the two are hinged by shoulder bolts, and the third shoulder connecting plate 5 can rotate around the second shoulder connecting plate 1 to assist the shoulder joint abduction and adduction; multiple rows of through holes are set on the fourth shoulder connecting plate 6, and the bolts cooperate with the through holes on the third shoulder connecting plate 5 to realize fixed connection, and the third shoulder connecting plate is moved left and right 5. Change the alignment position of the through holes to adjust the length of the big arm of the whole body exoskeleton; the driving device 7 is fixedly installed on the fourth shoulder connection plate 6; The straight central axis is installed symmetrically;

The left part of described big and small arm mechanism comprises first big arm plate 8, big arm support plate 9, second big arm plate 12, extension spring 10, small arm plate 11 and small arm support plate 13; One end of the plate 8 is connected with the driving device 7, and the driving device 7 can drive the rotation of the first big arm plate 8; the other end of the first big arm plate 8 is provided with multiple rows of through holes, through which the bolts are connected with the through holes on the second big arm plate 12. The hole fits to realize the fixed connection, and the adjustment of the length of the whole body exoskeleton arm is realized by moving the second arm plate 12 to change the alignment position of the through hole; Binding and fixing, providing support for the big arm when carrying heavy objects; the end of the small arm plate 11 and the second big arm plate 12 are provided with through holes, and the two are hinged with shoulder bolts, and the small arm plate 11 can be wound around The rotation of the second big arm plate 12 assists the flexion and extension of the elbow joint of the whole body exoskeleton; the mechanical limit plate is set on the second big arm plate 12, so that when the forearm plate 11 rotates, the range of motion of the elbow joint of the whole body exoskeleton is 30°～ 120°; one end of the extension spring 10 is connected to the first big arm board 8, and the other end is connected to the forearm board 11 to provide passive power for wearing and carrying heavy objects; the forearm support board 13 is fixedly installed on the forearm board 11 , which binds and fixes the forearm, and provides support for the forearm when carrying heavy objects; the first forearm plate 8 and the forearm support plate 9 are provided with square grooves for fixing the strap and the wearer’s forearm Binding; the end of the forearm 11 plate is provided with a square groove, which is used to fix the strap and bind the wearer's wrist; Symmetrical axisymmetric installation;

The left part of described hip mechanism comprises the first hip connecting plate 15, the second hip connecting plate 17, the third hip connecting plate 18, the fourth hip connecting plate 19, the hip hinge 16, the first thigh plate 21 and the hip compression spring three-stage telescopic rod 20; multiple rows of through holes are set on the first hip connecting plate 15, and the fixed connection is realized through the cooperation of the bolts with the through holes at the left end of the bottom of the waist plate 14, and the change is made by moving the waist plate 14 left and right. The alignment position of the through hole realizes the adjustment of the hip width of the whole body exoskeleton; the first hip connecting plate 15 and the second hip connecting plate 17 are connected through the hip hinge 16, which assists the internal rotation or external rotation of the hip joint of the whole body exoskeleton; The middle part of the second hip connecting plate 17 is provided with a cylindrical protrusion, which forms a mechanical limit with the limit groove of the third hip connecting plate 18, and the third hip connecting plate 18 is wound around the end of the second hip connecting plate 17. The rotation assists the abduction or adduction of the hip joint of the whole body exoskeleton, and at the same time limits the limit of hip abduction to 45° and the limit of adduction to 20° to play a protective role; one end of the fourth hip connecting plate 19 is provided with multiple rows of through holes, The fixed connection is realized by bolts cooperating with the through holes at the end of the third hip connecting plate 18, and the alignment position of the through holes is changed by moving the third hip connecting plate 18 left and right to adjust the thickness of the thighs of the whole body exoskeleton; the fourth hip connection The other end of the plate 19 is provided with a cylindrical protrusion, which forms a mechanical limit with the upper limit groove of the first thigh plate 21. The first thigh plate 21 rotates around the end of the fourth hip connecting plate 19 to assist the whole body exoskeleton to assist the hip Joint flexion or extension, limit hip flexion, that is, the limit of thigh rod lifting is 145°, and limit hip extension limit to 40°, which plays a protective role; the hip compression spring three-stage telescopic rod 20 is connected with the third hip The upper connecting plate 18 and the first thigh plate 21 are hinged by shoulder bolts; the hip compression spring three-stage telescopic rod 20 is in a compressed state when the wearer stands upright, providing support for the upper limb of the exoskeleton and its load; When the wearer squats down, the telescopic rod 20 is stretched, and the upper end of the stage clip is out of contact with the upper base 20-6, and the stage clip is in a relaxed state; Axisymmetric installation for symmetry;

The hip compression spring three-stage telescopic rod 20 includes an upper base 20-6, a thin tube 20-5, a middle tube 20-4, a thick tube 20-2, a lower base 20-1 and a hip compression spring 20-3 One end of the upper base 20-6 and the thin tube 20-5 is respectively provided with a through hole, and the two are fixed with bolts; the other end of the thin tube 20-5 is enlarged in diameter, and fits with the internal clearance of the middle tube 20-4 One end of the middle cylinder 20-4 is provided with a bayonet, and the bayonet is provided with a through hole, which cooperates with the middle part of the thin cylinder 20-5 to ensure that the pistons of the middle cylinder and the thin cylinder are always coaxial; The mode of cooperation with the thick tube is the same as that of the thin tube and the middle tube; one end of the lower base 20-1 and one end of the thick tube 20-2 are fixed by four bolts; the sides of the thick tube and the middle tube are provided with through Hole exhaust, preventing the hip pressure spring three-stage telescopic rod 20 from stretching and compressing, the air pressure in the airtight pipeline is inconsistent with the atmospheric pressure to generate resistance, and it is convenient to add lubricating oil from the through hole; the hip compression spring 20-3 sets On the thin tube 20-5, the middle tube 20-4 and the thick tube 20-2, one end of the hip compression spring 20-3 is fixed on the lower base, and the other end is suspended in the air. When the wearer stands upright, the hip compression spring is in a compressed state. Provide support for the wearer's hip; when the wearer squats down, the three-stage telescopic rod of the hip compression spring is stretched, and the upper end of the hip compression spring is out of contact with the upper base, in a relaxed state, and returns to its original length;

The left part of described calf mechanism comprises second thigh plate 23, thigh support plate 22, first calf plate 25, second calf plate 26, the 3rd calf plate 28, calf support plate 27, foot plate 29 and leg clip Three-stage telescoping rod 24; one end of the second thigh plate 23 is provided with multiple rows of through holes, and the bolts cooperate with the through holes at the lower end of the first thigh plate 21 to realize fixed connection, and change the alignment position of the through holes by moving the first thigh plate 21 Realize the adjustment of the thigh length of the whole body exoskeleton; the other end of the second thigh plate 23 is provided with a cylindrical protrusion, which forms a mechanical limit with the limit groove at the upper end of the first calf plate 25, and the first calf plate 25 can wrap around the second leg plate. The two thigh boards 23 rotate to assist the knee joint to flex or extend, while limiting the knee joint from hyperextension, the limit of extension is 0° of normal straightening, and the limit of knee joint flexion is 135°; the lower end of the first calf board 25 and the second calf The upper end of the plate 26 is fixed by bolts; the upper end of the third shank plate 28 is provided with multiple rows of through holes, and the bolts cooperate with the through holes at the lower end of the second shank plate 26 to realize fixed connection, and the alignment of the through holes is changed by moving the second shank plate 26 position to realize the adjustment of the calf length of the whole body exoskeleton; the foot plate 29 and the third calf plate 28 are hinged through shoulder bolts to assist the flexion or extension of the ankle joint; the foot plate 29 and the third calf plate 28 are hinged through shoulder bolts to assist the ankle Joint flexion/extension; the three-stage telescopic rod 24 of the leg compression spring is hinged with the second thigh plate 23 and the second calf plate 26 respectively through shoulder bolts; the work of the three-stage telescopic rod 24 of the leg compression spring The principle is the same as the hip compression spring three-stage telescopic rod 20. When the wearer stands upright, the compression spring of the leg compression spring three-stage telescopic rod 24 is in a relaxed state. When the wearer squats, the leg compression spring three-stage The compression spring of the type telescopic rod 24 provides partial support for the lower extremity exoskeleton; the thigh support plate 22 is fixedly installed on the second thigh plate 23, which plays a role of binding and fixing the thigh, and provides support for the thigh when carrying heavy objects; The calf support plate 27 is fixedly installed on the third calf plate 28, which plays a role of binding and fixing the calf, and provides support for the calf when carrying heavy objects; the second thigh plate 23, the thigh support plate 22, the first calf plate 25. The second calf plate 26, the third calf plate 28 and the calf support plate 27 are all provided with square grooves, and the universal fixed straps realize the binding of thighs and calves respectively; the foot plate 29 is provided with square grooves for fixing and binding The belt realizes the binding of the foot plate; the right part and the left part of the large and small leg mechanism are symmetrically installed with the vertical central axis of the waist and back plate mechanism as the symmetrical axis;

Further, the backboard 3, the waist board 14, the first big arm board 8, the big arm support board 9, the forearm board 11, the forearm support board 13, the first hip connection board 15, the third hip connection board 18. The fourth hip connecting plate 19, the first thigh plate 21, the second thigh plate 23, the thigh support plate 22, the first calf plate 25, the second calf plate 26, the third calf plate 28, the calf support plate 27 and Foot plate 29 is provided with square groove and is used for reducing weight.

Further, the drive device 7 is an intelligent controller integrating a servo motor, a harmonic reducer, and an encoder, and uses an inertial measurement unit and a thin-film pressure sensor to collect motion information of the wearer and feed it back to the host computer to determine whether the wearer is operating. intention, and then drive the motor to rotate to provide active assist for the wearer;

Further, the servo motor is a QDD Pro-PR60-100-90 disc motor, and the output torque of the motor is amplified by a harmonic reducer to drive the first big arm plate 8 to rotate, assisting the flexion or extension of the shoulder joint.

Further, the upper limbs of the whole body exoskeleton adopt 4 degrees of freedom, and the lower limbs adopt 5 degrees of freedom, so the flexibility is strong.

Further, the inner side of the strap at the upper end of the backboard 3 is a sponge breathable shoulder pad; the inner side of the backboard 3, the inner side of the upper arm support board 9, the inner side of the forearm support board 13, the inner side of the thigh support board 22, the inner side of the calf support board 27 and the waist board There are high-density sponge pads on the inside of 14 to improve the comfort of wearing.

Further, the whole body exoskeleton is made of 6061-T6 aluminum alloy except for servo motors, hinges, springs and bolts, and the overall weight is less than 10kg.

The rotation of the shoulder hinge of the whole body exoskeleton assists the internal rotation/external rotation of the shoulder joint; the rotation of the third connecting plate of the shoulder assists the adduction/abduction of the shoulder joint; the rotation of the servo motor drives the flexion/extension of the shoulder joint to lift heavy objects Function; the rotation of the forearm plate around the second large arm plate assists the flexion/extension of the elbow joint under the passive assistance of the tension spring; the rotation of the hip hinge assists the internal rotation/external rotation of the hip joint; the third connecting plate of the hip revolves around the hip Rotation of the end of the second link assists hip adduction/abduction; rotation of the first thigh plate around the end of the fourth link of the hip assists hip flexion/extension; first calf plate can wrap around the end of the second thigh plate Rotation of the third calf plate assists knee flexion/extension; rotation of the foot plate around the end of the third calf plate assists ankle flexion/extension.

The wearing comfort is ensured through the multiple binding design of the whole body, so that the load is mainly transmitted to the ground through the exoskeleton, and part of the load will be evenly borne by the whole body.

Specific examples:

This embodiment will be described with reference to FIG. 2 . The waist and back board mechanism in this embodiment includes: a back board 3 and a waist board 14 . The upper end of the backboard 3 and the rectangular plates on both sides of the middle part are symmetrically provided with a plurality of narrow rectangular grooves, which can fix the straps; both sides of the middle part of the waist board 14 are provided with narrow rectangular grooves to fix the abdominal straps; The through holes and the back plate 3 are fixed by bolts to realize back length adjustment; the back plate 3 is provided with round holes and square grooves for weight reduction and the waist plate 14 is provided with square grooves for weight reduction.

This embodiment is described in conjunction with FIG. 3 and FIG. 4 . The shoulder mechanism in this embodiment includes: a first shoulder connecting plate 2, a shoulder hinge 4, a second shoulder connecting plate 1, a third shoulder connecting plate 5, The fourth shoulder connecting plate 6 and the driving device 7; the shoulder hinge 4 assists the internal/external rotation of the shoulder joint; the rotation of the third shoulder connecting plate 5 around the second shoulder connecting plate 1 assists the external rotation of the shoulder joint At the same time, the mechanical limit at the second shoulder connecting plate 1 restricts adduction, so as to ensure that the upper arm will not be retracted and oppressed when carrying heavy objects, and the load on the wearer will be reduced; the first shoulder connecting plate 2 and the multiple rows of through holes of the fourth shoulder connecting plate 6 can adjust the length of the shoulder width and the thickness of the arm; the driving device 7 is an intelligent controller integrating a servo motor, a harmonic reducer and an encoder; Use the inertial measurement unit and the thin film pressure sensor to collect motion information and feed it back to the host computer to judge the wearer's operation intention, and then drive the motor to rotate to provide active assistance for the wearer; the servo motor is a QDD Pro-PR60-100-90 disc motor , the output torque of the motor is amplified by the harmonic reducer to drive the first big arm plate 8 to rotate, assisting the flexion/extension of the shoulder joint.

This embodiment is described in conjunction with FIG. 5 . The large and small arm mechanisms in this embodiment include: a first boom plate 8 , a boom support plate 9 , a second boom plate 12 , a tension spring 10 , a small arm plate 11 and a small arm support plate. Composed of plate 13; the forearm plate 11 can rotate around the second arm plate 12 to assist the flexion/extension of the elbow joint, and at the same time, the mechanical limit of the second arm plate 12 makes the range of motion of the elbow joint 30°-120°, When the wearer is carrying heavy objects and the elbow joint is flexed by 30°, the dual functions of mechanical limit and extension spring provide support to protect the elbow joint; the upper arm support plate 9 and the forearm support plate 13 respectively bind and fix the big and small arms, Provide support for the big and small arms when carrying heavy objects, and the positions are adjustable to improve wearing comfort; the first big arm board 8, the big arm support board 9, the second big arm board 12, the small arm board 11 and the The support plates 13 are all provided with square grooves for weight reduction.

This embodiment is described with reference to Fig. 6 and Fig. 7. The hip mechanism in this embodiment includes: a first hip connecting plate 15, a second hip connecting plate 17, a third hip connecting plate 18, a fourth hip connecting plate Plate 19, hip hinge 16, first thigh plate 21 and hip compression spring three-stage telescopic rod 20; said hip hinge 16 assists hip joint internal rotation/external rotation; said third hip connecting plate 18 winds The end of the second hip connecting plate 17 rotates to assist the abduction/adduction of the hip joint; the middle part of the second hip connecting plate 17 is provided with a cylindrical protrusion, which forms a mechanical limit with the limiting groove of the third hip connecting plate 18. position, limit the limit of hip abduction to 45°, and the limit of adduction to 20°, which plays a certain protective role; the first thigh plate 21 can rotate around the end of the fourth hip connecting plate 19 to assist hip flexion/extension; The mechanical limit of the fourth hip connecting plate 19 and the first thigh plate 21 is similar to the mechanical limit of the second hip connecting plate 17 and the third hip connecting plate 18, which limits the flexion of the hip joint, that is, the lifting limit of the thigh bar 145°, limiting the extension limit of the hip joint to 40°; the hip compression spring three-stage telescopic rod 20 is in a compressed state when the wearer stands upright, providing support for the upper limb of the exoskeleton and its load; the wearer When squatting down, telescopic link 20 stretches, and the stage clip upper end disengages with upper base 20-6, and stage stage is in relaxed state. The first hip connecting plate 15 and the fourth hip connecting plate 19 are all provided with a plurality of through holes for respectively adjusting the width of the crotch and the thickness of the thigh to increase the range of applicable people and improve wearing comfort; the first hip connecting plate The plate 15, the third hip connecting plate 18, the fourth hip connecting plate 19, and the first thigh plate 21 are all provided with square grooves for weight reduction.

This embodiment is described in conjunction with FIG. 8 . The thigh mechanism in this embodiment includes: a second thigh plate 23, a thigh support plate 22, a first calf plate 25, a second calf plate 26, a third calf plate 28, and a calf support plate. 27. Foot plate 29 and leg compression spring three-stage telescopic rod 24; the first calf plate 25 can rotate around the second thigh plate 23 to assist knee joint flexion/extension; one end of the second thigh plate 23 is provided with a cylinder The protrusion forms a mechanical limit with the limit groove of the first calf plate 25, which limits the knee joint from hyperextension, the extension limit is 0° of normal straightening, and the limit of knee joint flexion is 135°; the second thigh plate 23 One end is provided with a plurality of through holes, which can realize the length adjustment of the thigh, and one end of the third calf plate 28 is provided with a plurality of through holes, which can realize the length adjustment of the calf, increase the range of applicable people, and improve the comfort of wearing; the thigh support plate 22 and calf support plate 27 play a binding and fixing effect on the large and small legs respectively, and provide support for the large and small legs when carrying heavy objects, and the positions are all adjustable to improve wearing comfort; the foot plate 29 and the third calf plate 28 pass through the shoulder bolts Hinged to assist ankle flexion/extension; when the wearer stands upright, the compression spring is in a relaxed state, and when the wearer squats, the compression spring is compressed to provide partial support for the lower extremity exoskeleton; the second thigh plate 23, thigh support The plate 22, the first calf plate 25, the second calf plate 26, the third calf plate 28, the calf support plate 27 and the foot plate 29 are all provided with square grooves for weight reduction.

This embodiment is described in conjunction with Fig. 9 and Fig. 10. The hip compression spring three-stage telescopic rod 20 described in this embodiment includes: a lower base 20-1, a thick tube 20-2, a compression spring 20-3, and a middle tube 20 -4. The thin tube 20-5 and the upper base 20-6; the cylindrical end of the upper base 20-6 and the end of the thin tube 20-5 are provided with through holes, and the two are fixed with bolts; the lower base 20- 1. One end and one end of the thick tube 20-2 are fixed by four bolts; the length and diameter of one end of the thin tube 20-5 is enlarged, and fits with the internal clearance of the middle tube 20-4, and the length of one end of the middle tube 20-4 is provided with a clip The bayonet is provided with a through hole, and the clearance fit with the middle part of the thin cylinder 20-5 can ensure that the two rod pistons are always concentric when moving; the cooperation between the middle cylinder 20-4 and the thick cylinder 20-2 and the thin cylinder 20-5 and the middle cylinder 20-4 are connected in a similar way; the sides of the thick cylinder 20-2 and the middle cylinder 20-4 are provided with through holes for exhausting, so as to prevent the air pressure in the airtight pipeline from the atmospheric pressure when the expansion rod is stretched and compressed. Inconsistency produces resistance, and at the same time it is convenient to add lubricating oil from the through hole; the hip compression spring 20-3 is in a compressed state when the wearer is upright, providing support for the hip mechanism; When the hip compression spring 20-3 is in a relaxed state, and the upper end is out of contact with the upper base 20-6, the entire telescopic rod does not interfere with other structures; the three-stage telescopic rod 24 of the leg compression spring is in contact with the hip compression spring The structure of the spring three-stage telescopic rod 20 is similar. When the wearer stands upright, the compression spring is in a relaxed state. When the wearer squats, both the telescopic rod and the compression spring are compressed to provide partial support for the lower extremity exoskeleton; when the wearer stands up, the compression spring gradually relaxes. The original length is restored to provide assistance to the wearer; the telescopic rods are all installed on the outside of the lower limb exoskeleton, and do not interfere with other structures when the lower limb moves.

Claims (6)

1. A whole-body exoskeleton for carrying assistance, characterized in that it comprises a backboard mechanism, a shoulder mechanism, a large and small arm mechanism, a hip mechanism and a large and small leg mechanism; the shoulder mechanism has the same left and right parts, They are fixedly connected with the left end and the right end of the top of the waist-back plate mechanism respectively; the big and small arm mechanisms have the same left and right parts, respectively connected with the left and right parts of the shoulder mechanism; the hip mechanism has the same left and right parts, respectively It is fixedly connected with the left end and the right end of the bottom of the waist-back plate mechanism; the large and small leg mechanism has the same left and right parts, which are respectively fixedly connected with the left and right parts of the hip mechanism; the whole body exoskeleton forms a human shape as a whole. Fastened to the wearer by straps; The back plate mechanism includes a back plate and a waist plate; the back plate is T-shaped, and a plurality of through holes are arranged at the left and right ends of the top for connecting with the shoulder mechanism; the top and middle sides of the back plate are symmetrically arranged with multiple Two rectangular slots are used to fix the straps; the lower end of the backboard is provided with two vertical rows of through holes for connecting with the waistboard; the waistboard is in an inverted T shape with two vertical rows of throughholes arranged in the middle, through which the bolts are connected to the backboard The through holes of the waist board can be fixedly connected, and the length of the back board mechanism can be adjusted by moving the waist board up and down to change the alignment position of the through holes; the left and right sides of the waist board are provided with rectangular grooves for fixing straps; the left and right ends of the bottom of the waist board are set Multiple through holes for connecting with the hip mechanism; The left part of the shoulder mechanism comprises a first shoulder connecting plate, a shoulder hinge, a second shoulder connecting plate, a third shoulder connecting plate, a fourth shoulder connecting plate and a driving device; the first shoulder Multiple rows of through holes are set on the connecting plate, and the fixed connection is realized through the cooperation of the bolts with the through holes at the top left end of the back plate, and the adjustment of the shoulder width of the whole body exoskeleton is realized by moving the first shoulder connecting plate left and right to change the alignment position of the through holes; A shoulder connecting plate is connected to the second shoulder connecting plate through a shoulder hinge, and the shoulder hinge assists the internal rotation or external rotation of the shoulder joint; the middle part of the third shoulder connecting plate and the second shoulder connecting plate is arranged There are through holes, and the two are hinged through the shoulder bolts. The third shoulder connecting plate can rotate around the second shoulder connecting plate to assist the abduction and adduction of the shoulder joint; the fourth shoulder connecting plate is provided with multiple A row of through holes is fixedly connected by the cooperation of the bolts with the through holes on the third shoulder connecting plate, and the alignment position of the through holes is changed by moving the third shoulder connecting plate left and right to realize the adjustment of the length of the large arm of the whole body exoskeleton; the driving device is fixed Installed on the fourth shoulder connecting plate; the right part and the left part of the shoulder mechanism are symmetrically installed with the vertical central axis of the waist-back plate mechanism as the symmetrical axis; The left part of the large and small arm mechanism includes a first big arm plate, a big arm support plate, a second big arm plate, a tension spring, a small arm plate and a small arm support plate; one end of the first big arm plate is connected to the driving device , the driving device can drive the rotation of the first big arm plate; the other end of the first big arm plate is provided with multiple rows of through holes, and the bolts are fixedly connected with the through holes on the second big arm plate to achieve fixed connection. By moving the second big arm The plate changes the alignment position of the through hole to realize the length adjustment of the arm of the whole body exoskeleton; the arm support plate is fixedly installed on the first arm plate, which binds and fixes the arm and provides support for the arm when carrying heavy objects; The forearm plate and the end of the second big arm plate are provided with through holes, and the two are hinged by shoulder bolts, and the forearm plate can rotate around the second big arm plate to assist the flexion and extension of the elbow joint of the whole body exoskeleton; A mechanical limit plate is set on the second arm plate, so that when the forearm plate rotates, the range of motion of the elbow joint of the whole body exoskeleton is 30°～120°; one end of the tension spring is connected to the first arm plate, and the other end is connected to the forearm plate , to provide passive power assistance for wearing and carrying heavy objects; the forearm support plate is fixedly installed on the forearm plate, which binds and fixes the forearm, and provides support for the forearm when carrying heavy objects; the first large arm There are square grooves on the plate and the upper arm support plate, which are used to bind the straps to the wearer's upper arm; the ends of the forearm board are provided with square grooves, which are used to fix the straps and bind the wearer's wrist; The right part and the left part of the large and small arm mechanism are installed symmetrically with the vertical central axis of the backboard mechanism as the symmetrical axis; The left part of the hip mechanism includes the first hip connecting plate, the second hip connecting plate, the third hip connecting plate, the fourth hip connecting plate, the hip hinge, the first thigh plate and the hip compression spring Three-stage telescopic rod; multiple rows of through holes are set on the first hip connecting plate, and the fixed connection is realized through the cooperation of bolts with the through holes at the left end of the bottom of the waist plate, and the alignment position of the through holes is changed by moving the waist plate left and right to realize the hip width of the whole body exoskeleton Adjustment; the first hip connecting plate and the second hip connecting plate are connected by hip hinges to assist the internal rotation or external rotation of the hip joint of the whole body exoskeleton; the middle part of the second hip connecting plate is provided with a cylindrical protrusion, It forms a mechanical limit with the limit groove of the third hip connecting plate, and the third hip connecting plate rotates around the end of the second hip connecting plate to assist the abduction or adduction of the hip joint of the whole body exoskeleton, and at the same time limit the hip joint The limit of abduction is 45°, and the limit of adduction is 20°, which plays a protective role; one end of the fourth hip connecting plate is provided with multiple rows of through holes, and the fixed connection is realized through the cooperation of bolts with the through holes at the end of the third hip connecting plate , by moving the third hip connecting plate left and right to change the alignment position of the through hole to realize the adjustment of the thigh thickness of the whole body exoskeleton; the other end of the fourth hip connecting plate is provided with a cylindrical protrusion, which is composed of the upper limit groove of the first thigh plate Mechanical limit, the first thigh plate rotates around the end of the fourth hip connecting plate to assist the whole body exoskeleton to assist hip flexion or extension, limit the hip joint flexion, that is, the limit of thigh rod lifting is 145°, and limit the limit of hip joint extension 40°, which plays a protective role; the hip compression spring three-stage telescopic rod is hinged with the third hip connecting plate and the first thigh plate through shoulder bolts; the hip compression spring three-stage telescopic rod When the wearer stands upright, the compression spring is in a compressed state, providing support for the upper limb of the exoskeleton and its load; when the wearer squats, the telescopic rod stretches, and the compression spring is in a relaxed state; the right part and the left part of the hip mechanism The vertical central axis of the backboard mechanism is installed symmetrically; The hip compression spring three-stage telescopic rod includes an upper base, a thin tube, a middle tube, a thick tube, a lower base and a hip compression spring; the upper base and one end of the thin tube are respectively provided with through holes, and the two ends are connected by bolts. fixed; the diameter of the other end of the thin tube increases and fits with the internal clearance of the middle tube; one end of the middle tube is provided with a bayonet, and the bayonet is provided with a through hole, which is matched with the middle part of the thin tube to ensure that the middle tube and the thin tube When the cylinder piston moves, it is always concentric; the cooperation between the middle cylinder and the thick cylinder is the same as that of the thin cylinder and the middle cylinder; one end of the lower base and one end of the thick cylinder are fixed by four bolts; the thick cylinder and the There are through holes on the side of the middle barrel to exhaust air, preventing resistance caused by inconsistency between air pressure and air pressure in the airtight pipeline when the three-stage telescopic rod of the hip compression spring is stretched and compressed, and at the same time it is convenient to add lubricating oil from the through holes; the hip The compression spring is set on the thin tube, the middle tube and the thick tube. One end of the hip compression spring is fixed on the lower base, and the other end is suspended in the air. When the wearer stands upright, the hip compression spring is in a compressed state to provide support for the wearer's hip; wear When the patient squats down, the three-stage telescopic rod of the hip compression spring is stretched, and the upper end of the hip compression spring is out of contact with the upper base, and is in a relaxed state, returning to its original length; The left part of the thigh mechanism includes a second thigh plate, a thigh support plate, a first calf plate, a second calf plate, a third calf plate, a calf support plate, a foot plate and a three-stage telescopic rod of a leg compression spring; One end of the second thigh plate is provided with multiple rows of through holes, and the bolts are fixedly connected with the through holes at the lower end of the first thigh plate, and the alignment position of the through holes is changed by moving the first thigh plate to realize the adjustment of the thigh length of the whole body exoskeleton; the second thigh plate The other end of the two thigh plates is provided with a cylindrical protrusion, which forms a mechanical limit with the limit groove on the top of the first calf plate. The first calf plate can rotate around the second thigh plate to assist the knee joint to flex or extend, and at the same time limit the knee joint. The joint cannot be hyperextended, the extension limit is 0° of normal extension, and the limit of knee joint flexion is 135°; the lower end of the first calf plate and the upper end of the second calf plate are fixed by bolts; the upper end of the third calf plate is provided with multiple A row of through holes is fixedly connected by bolts to the through holes at the lower end of the second calf plate, and the alignment position of the through holes is changed by moving the second calf plate to adjust the calf length of the whole body exoskeleton; the foot plate and the third calf plate pass through the shaft shoulder The bolt is hinged to assist the flexion or extension of the ankle joint; the foot plate is hinged to the third calf plate through shoulder bolts to assist the ankle joint to flex/extend; The two calf plates are hinged by shoulder bolts; the working principle of the leg spring three-stage telescopic rod is the same as that of the hip spring three-stage telescopic rod. When the wearer stands upright, the leg spring three-stage telescopic rod The compression spring of the leg is in a relaxed state. When the wearer squats down, the compression spring of the three-stage telescopic rod of the leg compression spring is compressed to provide partial support for the lower extremity exoskeleton; the thigh support plate is fixedly installed on the second thigh plate, It binds and fixes the thigh, and provides support for the thigh when carrying heavy objects; the calf support plate is fixedly installed on the third calf plate, plays a role of binding and fixing the calf, and provides support for the calf when carrying heavy objects; The second thigh board, the thigh supporting board, the first calf board, the second calf board, the third calf board and the calf supporting board are all provided with square grooves, and the universal fixing bandages respectively realize the binding of the thigh and the calf; There are square slots for fixing the straps to bind the feet; the right part and the left part of the leg mechanism are symmetrically installed with the vertical central axis of the waist and back plate mechanism as the symmetrical axis. 2. A whole-body exoskeleton oriented to assisting in transportation according to claim 1, characterized in that, the backboard, the waist board, the first big arm board, the big arm support board, the forearm board, the forearm support board, 1st hip connection plate, 3rd hip connection plate, 4th hip connection plate, 1st thigh plate, 2nd thigh plate, thigh support plate, 1st calf plate, 2nd calf plate, 3rd calf plate, Calf support plate and foot plate have square grooves for weight reduction. 3. A whole-body exoskeleton oriented to transportation assistance according to claim 1, wherein the driving device is an intelligent controller integrating a servo motor, a harmonic reducer, and an encoder, and utilizes an inertial measurement unit And the thin film pressure sensor collects the wearer's motion information and feeds it back to the host computer to judge the wearer's operation intention, and then drive the motor to rotate to provide active assistance for the wearer. 4. A whole-body exoskeleton oriented to transportation assistance according to claim 3, wherein the servo motor is a disc motor of the QDD Pro-PR60-100-90 type, and the output torque of the motor is decelerated by harmonics After the device is amplified, it drives the rotation of the first large arm plate, assisting the flexion or extension of the shoulder joint. 5. A whole-body exoskeleton oriented to transportation assistance according to claim 1, wherein the upper limbs of the whole-body exoskeleton adopt 4 degrees of freedom, and the lower limbs adopt 5 degrees of freedom. 6. A whole-body exoskeleton oriented to transportation and assisting according to claim 1, characterized in that, the inner side of the upper strap of the backboard is a sponge breathable shoulder pad; The inner side of the board, the inner side of the thigh support board, the inner side of the calf support board and the inner side of the waist board are equipped with high-density sponge pads to improve the wearing comfort.

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